GfMatrix3f Class Reference

#include <matrix3f.h>

Public Types
typedef float	ScalarType

Public Member Functions
	GfMatrix3f ()=default
	GfMatrix3f (float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
	GfMatrix3f (const float m[3][3])
	GfMatrix3f (float s)
	GfMatrix3f (int s)
	GfMatrix3f (const GfVec3f &v)
GF_API	GfMatrix3f (const std::vector< std::vector< double > > &v)
GF_API	GfMatrix3f (const std::vector< std::vector< float > > &v)
GF_API	GfMatrix3f (const GfRotation &rot)
	Constructor. Initialize matrix from rotation. More...
GF_API	GfMatrix3f (const GfQuatf &rot)
	Constructor. Initialize matrix from a quaternion. More...
GF_API	GfMatrix3f (const class GfMatrix3d &m)
	This explicit constructor converts a "double" matrix to a "float" matrix. More...
void	SetRow (int i, const GfVec3f &v)
	Sets a row of the matrix from a Vec3. More...
void	SetColumn (int i, const GfVec3f &v)
	Sets a column of the matrix from a Vec3. More...
GfVec3f	GetRow (int i) const
	Gets a row of the matrix as a Vec3. More...
GfVec3f	GetColumn (int i) const
	Gets a column of the matrix as a Vec3. More...
GfMatrix3f &	Set (float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22)
GfMatrix3f &	Set (const float m[3][3])
GfMatrix3f &	SetIdentity ()
	Sets the matrix to the identity matrix. More...
GfMatrix3f &	SetZero ()
	Sets the matrix to zero. More...
GF_API GfMatrix3f &	SetDiagonal (float s)
	Sets the matrix to s times the identity matrix. More...
GF_API GfMatrix3f &	SetDiagonal (const GfVec3f &)
	Sets the matrix to have diagonal (v[0], v[1], v[2]). More...
GF_API float *	Get (float m[3][3]) const
float *	data ()
const float *	data () const
float *	GetArray ()
	Returns vector components as an array of float values. More...
const float *	GetArray () const
	Returns vector components as a const array of float values. More...
float *	operator[] (int i)
const float *	operator[] (int i) const
GF_API bool	operator== (const GfMatrix3d &m) const
GF_API bool	operator== (const GfMatrix3f &m) const
bool	operator!= (const GfMatrix3d &m) const
bool	operator!= (const GfMatrix3f &m) const
GF_API GfMatrix3f	GetTranspose () const
	Returns the transpose of the matrix. More...
GF_API GfMatrix3f	GetInverse (double *det=NULL, double eps=0) const
GF_API double	GetDeterminant () const
	Returns the determinant of the matrix. More...
GF_API bool	Orthonormalize (bool issueWarning=true)
GF_API GfMatrix3f	GetOrthonormalized (bool issueWarning=true) const
	Returns an orthonormalized copy of the matrix. More...
GF_API double	GetHandedness () const
bool	IsRightHanded () const
bool	IsLeftHanded () const
GF_API GfMatrix3f &	operator*= (const GfMatrix3f &m)
	Post-multiplies matrix m into this matrix. More...
GF_API GfMatrix3f &	operator*= (double)
	Multiplies the matrix by a float. More...
GF_API GfMatrix3f &	operator+= (const GfMatrix3f &m)
	Adds matrix m to this matrix. More...
GF_API GfMatrix3f &	operator-= (const GfMatrix3f &m)
	Subtracts matrix m from this matrix. More...
GF_API GfMatrix3f &	SetScale (float scaleFactor)
	Sets matrix to specify a uniform scaling by scaleFactor. More...
3D Transformation Utilities
GF_API GfMatrix3f &	SetRotate (const GfQuatf &rot)
	Sets the matrix to specify a rotation equivalent to rot. More...
GF_API GfMatrix3f &	SetRotate (const GfRotation &rot)
	Sets the matrix to specify a rotation equivalent to rot. More...
GF_API GfMatrix3f &	SetScale (const GfVec3f &scaleFactors)
GF_API GfRotation	ExtractRotation () const
GF_API GfVec3f	DecomposeRotation (const GfVec3f &axis0, const GfVec3f &axis1, const GfVec3f &axis2) const
GF_API GfQuaternion	ExtractRotationQuaternion () const

Static Public Attributes
static const size_t	numRows = 3
static const size_t	numColumns = 3

Friends
class	GfMatrix3d
size_t	hash_value (GfMatrix3f const &m)
	Hash. More...
GfMatrix3f	operator* (const GfMatrix3f &m1, double d)
	Returns the product of a matrix and a float. More...
GfMatrix3f	operator* (double d, const GfMatrix3f &m)
GF_API friend GfMatrix3f	operator- (const GfMatrix3f &m)
	Returns the unary negation of matrix m. More...
GfMatrix3f	operator+ (const GfMatrix3f &m1, const GfMatrix3f &m2)
	Adds matrix m2 to m1. More...
GfMatrix3f	operator- (const GfMatrix3f &m1, const GfMatrix3f &m2)
	Subtracts matrix m2 from m1. More...
GfMatrix3f	operator* (const GfMatrix3f &m1, const GfMatrix3f &m2)
	Multiplies matrix m1 by m2. More...
GfMatrix3f	operator/ (const GfMatrix3f &m1, const GfMatrix3f &m2)
	Divides matrix m1 by m2 (that is, m1 * inv(m2)). More...
GfVec3f	operator* (const GfMatrix3f &m, const GfVec3f &vec)
	Returns the product of a matrix m and a column vector vec. More...
GfVec3f	operator* (const GfVec3f &vec, const GfMatrix3f &m)
	Returns the product of row vector vec and a matrix m. More...

Detailed Description

Stores a 3x3 matrix of float elements. A basic type.

Matrices are defined to be in row-major order, so matrix[i][j] indexes the element in the i th row and the j th column.

3D Transformations

Three methods, SetRotate(), SetScale(), and ExtractRotation(), interpret a GfMatrix3f as a 3D transformation. By convention, vectors are treated primarily as row vectors, implying the following:

• Transformation matrices are organized to deal with row vectors, not column vectors.
• Each of the Set() methods in this class completely rewrites the matrix; for example, SetRotate() yields a matrix which does nothing but rotate.
• When multiplying two transformation matrices, the matrix on the left applies a more local transformation to a row vector. For example, if R represents a rotation matrix and S represents a scale matrix, the product R*S will rotate a row vector, then scale it.

Definition at line 64 of file matrix3f.h.

Member Typedef Documentation

typedef float GfMatrix3f::ScalarType

Definition at line 67 of file matrix3f.h.

Constructor & Destructor Documentation

GfMatrix3f::GfMatrix3f ( )

default

GfMatrix3f value-initializes to zero and performs no default initialization, like float or double.

GfMatrix3f::GfMatrix3f ( float  m00, float  m01, float  m02, float  m10, float  m11, float  m12, float  m20, float  m21, float  m22  )

inline

Constructor. Initializes the matrix from 9 independent float values, specified in row-major order. For example, parameter m10 specifies the value in row 1 and column 0.

Definition at line 79 of file matrix3f.h.

GfMatrix3f::GfMatrix3f ( const float  m[3][3] )

inline

Constructor. Initializes the matrix from a 3x3 array of float values, specified in row-major order.

Definition at line 89 of file matrix3f.h.

GfMatrix3f::GfMatrix3f ( float  s )

inlineexplicit

Constructor. Explicitly initializes the matrix to s times the identity matrix.

Definition at line 95 of file matrix3f.h.

GfMatrix3f::GfMatrix3f ( int  s )

inlineexplicit

This explicit constructor initializes the matrix to s times the identity matrix.

Definition at line 101 of file matrix3f.h.

GfMatrix3f::GfMatrix3f ( const GfVec3f &  v )

inlineexplicit

Constructor. Explicitly initializes the matrix to diagonal form, with the i th element on the diagonal set to v[i].

Definition at line 107 of file matrix3f.h.

GF_API GfMatrix3f::GfMatrix3f ( const std::vector< std::vector< double > > &  v )

explicit

Constructor. Initialize the matrix from a vector of vectors of double. The vector is expected to be 3x3. If it is too big, only the first 3 rows and/or columns will be used. If it is too small, uninitialized elements will be filled in with the corresponding elements from an identity matrix.

GF_API GfMatrix3f::GfMatrix3f ( const std::vector< std::vector< float > > &  v )

explicit

Constructor. Initialize the matrix from a vector of vectors of float. The vector is expected to be 3x3. If it is too big, only the first 3 rows and/or columns will be used. If it is too small, uninitialized elements will be filled in with the corresponding elements from an identity matrix.

GF_API GfMatrix3f::GfMatrix3f

(

const GfRotation &

rot

)

Constructor. Initialize matrix from rotation.

GF_API GfMatrix3f::GfMatrix3f ( const GfQuatf &  rot )

explicit

Constructor. Initialize matrix from a quaternion.

GF_API GfMatrix3f::GfMatrix3f ( const class GfMatrix3d &  m )

explicit

This explicit constructor converts a "double" matrix to a "float" matrix.

Member Function Documentation

float* GfMatrix3f::data ( )

inline

Returns raw access to components of matrix as an array of float values. Components are in row-major order.

Definition at line 217 of file matrix3f.h.

const float* GfMatrix3f::data ( ) const

inline

Returns const raw access to components of matrix as an array of float values. Components are in row-major order.

Definition at line 223 of file matrix3f.h.

GF_API GfVec3f GfMatrix3f::DecomposeRotation	(	const GfVec3f &	axis0,
		const GfVec3f &	axis1,
		const GfVec3f &	axis2
	)		const

Decompose the rotation corresponding to this matrix about 3 orthogonal axes. If the axes are not orthogonal, warnings will be spewed.

This is a convenience method that is equivalent to calling ExtractRotation().Decompose().

GF_API GfRotation GfMatrix3f::ExtractRotation

(

)

const

Returns the rotation corresponding to this matrix. This works well only if the matrix represents a rotation.

For good results, consider calling Orthonormalize() before calling this method.

GF_API GfQuaternion GfMatrix3f::ExtractRotationQuaternion

(

)

const

Returns the quaternion corresponding to this matrix. This works well only if the matrix represents a rotation.

For good results, consider calling Orthonormalize() before calling this method.

GF_API float* GfMatrix3f::Get

(

float

m[3][3]

)

const

Fills a 3x3 array of float values with the values in the matrix, specified in row-major order.

float* GfMatrix3f::GetArray ( )

inline

Returns vector components as an array of float values.

Definition at line 228 of file matrix3f.h.

const float* GfMatrix3f::GetArray ( ) const

inline

Returns vector components as a const array of float values.

Definition at line 233 of file matrix3f.h.

GfVec3f GfMatrix3f::GetColumn ( int  i ) const

inline

Gets a column of the matrix as a Vec3.

Definition at line 161 of file matrix3f.h.

GF_API double GfMatrix3f::GetDeterminant

(

)

const

Returns the determinant of the matrix.

GF_API double GfMatrix3f::GetHandedness

(

)

const

Returns the sign of the determinant of the matrix, i.e. 1 for a right-handed matrix, -1 for a left-handed matrix, and 0 for a singular matrix.

GF_API GfMatrix3f GfMatrix3f::GetInverse	(	double *	det = NULL,
		double	eps = 0
	)		const

Returns the inverse of the matrix, or FLT_MAX * SetIdentity() if the matrix is singular. (FLT_MAX is the largest value a float can have, as defined by the system.) The matrix is considered singular if the determinant is less than or equal to the optional parameter eps. If det is non-null, *det is set to the determinant.

GF_API GfMatrix3f GfMatrix3f::GetOrthonormalized

(

bool

issueWarning = true

)

const

Returns an orthonormalized copy of the matrix.

GfVec3f GfMatrix3f::GetRow ( int  i ) const

inline

Gets a row of the matrix as a Vec3.

Definition at line 156 of file matrix3f.h.

GF_API GfMatrix3f GfMatrix3f::GetTranspose

(

)

const

Returns the transpose of the matrix.

bool GfMatrix3f::IsLeftHanded ( ) const

inline

Returns true if the vectors in matrix form a left-handed coordinate system.

Definition at line 329 of file matrix3f.h.

bool GfMatrix3f::IsRightHanded ( ) const

inline

Returns true if the vectors in the matrix form a right-handed coordinate system.

Definition at line 323 of file matrix3f.h.

bool GfMatrix3f::operator!= ( const GfMatrix3d &  m ) const

inline

Tests for element-wise matrix inequality. All elements must match exactly for matrices to be considered equal.

Definition at line 274 of file matrix3f.h.

bool GfMatrix3f::operator!= ( const GfMatrix3f &  m ) const

inline

Tests for element-wise matrix inequality. All elements must match exactly for matrices to be considered equal.

Definition at line 280 of file matrix3f.h.

GF_API GfMatrix3f& GfMatrix3f::operator*=

(

const GfMatrix3f &

m

)

Post-multiplies matrix m into this matrix.

GF_API GfMatrix3f& GfMatrix3f::operator*=

(

double

)

Multiplies the matrix by a float.

GF_API GfMatrix3f& GfMatrix3f::operator+=

(

const GfMatrix3f &

m

)

Adds matrix m to this matrix.

GF_API GfMatrix3f& GfMatrix3f::operator-=

(

const GfMatrix3f &

m

)

Subtracts matrix m from this matrix.

GF_API bool GfMatrix3f::operator==

(

const GfMatrix3d &

m

)

const

Tests for element-wise matrix equality. All elements must match exactly for matrices to be considered equal.

GF_API bool GfMatrix3f::operator==

(

const GfMatrix3f &

m

)

const

Tests for element-wise matrix equality. All elements must match exactly for matrices to be considered equal.

float* GfMatrix3f::operator[] ( int  i )

inline

Accesses an indexed row i of the matrix as an array of 3 float values so that standard indexing (such as m[0][1]) works correctly.

Definition at line 240 of file matrix3f.h.

const float* GfMatrix3f::operator[] ( int  i ) const

inline

Accesses an indexed row i of the matrix as an array of 3 float values so that standard indexing (such as m[0][1]) works correctly.

Definition at line 245 of file matrix3f.h.

GF_API bool GfMatrix3f::Orthonormalize

(

bool

issueWarning = true

)

Makes the matrix orthonormal in place. This is an iterative method that is much more stable than the previous cross/cross method. If the iterative method does not converge, a warning is issued.

Returns true if the iteration converged, false otherwise. Leaves any translation part of the matrix unchanged. If issueWarning is true, this method will issue a warning if the iteration does not converge, otherwise it will be silent.

GfMatrix3f& GfMatrix3f::Set ( float  m00, float  m01, float  m02, float  m10, float  m11, float  m12, float  m20, float  m21, float  m22  )

inline

Sets the matrix from 9 independent float values, specified in row-major order. For example, parameter m10 specifies the value in row 1 and column 0.

Definition at line 168 of file matrix3f.h.

GfMatrix3f& GfMatrix3f::Set ( const float  m[3][3] )

inline

Sets the matrix from a 3x3 array of float values, specified in row-major order.

Definition at line 179 of file matrix3f.h.

void GfMatrix3f::SetColumn ( int  i, const GfVec3f &  v  )

inline

Sets a column of the matrix from a Vec3.

Definition at line 149 of file matrix3f.h.

GF_API GfMatrix3f& GfMatrix3f::SetDiagonal

(

float

s

)

Sets the matrix to s times the identity matrix.

GF_API GfMatrix3f& GfMatrix3f::SetDiagonal

(

const GfVec3f &

)

Sets the matrix to have diagonal (v[0], v[1], v[2]).

GfMatrix3f& GfMatrix3f::SetIdentity ( )

inline

Sets the matrix to the identity matrix.

Definition at line 193 of file matrix3f.h.

GF_API GfMatrix3f& GfMatrix3f::SetRotate

(

const GfQuatf &

rot

)

Sets the matrix to specify a rotation equivalent to rot.

GF_API GfMatrix3f& GfMatrix3f::SetRotate

(

const GfRotation &

rot

)

Sets the matrix to specify a rotation equivalent to rot.

void GfMatrix3f::SetRow ( int  i, const GfVec3f &  v  )

inline

Sets a row of the matrix from a Vec3.

Definition at line 142 of file matrix3f.h.

GF_API GfMatrix3f& GfMatrix3f::SetScale

(

float

scaleFactor

)

Sets matrix to specify a uniform scaling by scaleFactor.

GF_API GfMatrix3f& GfMatrix3f::SetScale

(

const GfVec3f &

scaleFactors

)

Sets the matrix to specify a nonuniform scaling in x, y, and z by the factors in vector scaleFactors.

GfMatrix3f& GfMatrix3f::SetZero ( )

inline

Sets the matrix to zero.

Definition at line 198 of file matrix3f.h.

Friends And Related Function Documentation

friend class GfMatrix3d

friend

Definition at line 471 of file matrix3f.h.

size_t hash_value ( GfMatrix3f const &  m )

friend

Hash.

Definition at line 248 of file matrix3f.h.

GfMatrix3f operator* ( const GfMatrix3f &  m1, double  d  )

friend

Returns the product of a matrix and a float.

Definition at line 342 of file matrix3f.h.

GfMatrix3f operator* ( double  d, const GfMatrix3f &  m  )

friend

Definition at line 350 of file matrix3f.h.

GfMatrix3f operator* ( const GfMatrix3f &  m1, const GfMatrix3f &  m2  )

friend

Multiplies matrix m1 by m2.

Definition at line 384 of file matrix3f.h.

GfVec3f operator* ( const GfMatrix3f &  m, const GfVec3f &  vec  )

friend

Returns the product of a matrix m and a column vector vec.

Definition at line 398 of file matrix3f.h.

GfVec3f operator* ( const GfVec3f &  vec, const GfMatrix3f &  m  )

friend

Returns the product of row vector vec and a matrix m.

Definition at line 405 of file matrix3f.h.

GfMatrix3f operator+ ( const GfMatrix3f &  m1, const GfMatrix3f &  m2  )

friend

Adds matrix m2 to m1.

Definition at line 368 of file matrix3f.h.

GF_API friend GfMatrix3f operator- ( const GfMatrix3f &  m )

friend

Returns the unary negation of matrix m.

GfMatrix3f operator- ( const GfMatrix3f &  m1, const GfMatrix3f &  m2  )

friend

Subtracts matrix m2 from m1.

Definition at line 376 of file matrix3f.h.

GfMatrix3f operator/ ( const GfMatrix3f &  m1, const GfMatrix3f &  m2  )

friend

Divides matrix m1 by m2 (that is, m1 * inv(m2)).

Definition at line 392 of file matrix3f.h.

Member Data Documentation

const size_t GfMatrix3f::numColumns = 3

static

Definition at line 70 of file matrix3f.h.

const size_t GfMatrix3f::numRows = 3

static

Definition at line 69 of file matrix3f.h.

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The documentation for this class was generated from the following file:

• pxr/base/gf/matrix3f.h